YASKAWA
TOEPC71061737D GA800 DRIVE INSTALLATION & PRIMARY OPERATION
133
Going from “Safe Torque Off” to Usual Operation
The safety input will only release when there is no Run command.
•
During Stop
When the Safe Disable function is triggered during stop, close the circuit between terminals H1-HC and H2-HC to
disable
“
Safe Torque Off
”
. Enter the Run command after the drive stops correctly.
•
During Run
If you trigger the Safe Disable function during run, clear the Run command, then close the circuit between terminals
H1-HC and H2-HC to disable
“
Safe Torque Off
”
. Enter the Stop command, then enter the Run command when
terminals H1 and H2 are activated.
■
Safe Disable Monitor Output Function and Keypad Display
Refer to
for information about the relation between the input channel status, Safety monitor output status,
and drive output status.
Table 16.3 Safe Disable Input and External Device Monitor (EDM) Terminal Status
Input Channel Status
Input 1 (H1-HC)
ON (Close the circuit)
OFF (Open)
ON (Close the circuit)
OFF (Open)
Input 2 (H2-HC)
ON (Close the circuit)
ON (Close the circuit)
OFF (Open)
OFF (Open)
MFDO Terminal
(H2-xx = 21)
MFDO Terminal
(H2-xx = 21)
OFF
OFF
OFF
ON
MFDO Terminal
(H2-xx = 121)
ON
ON
ON
OFF
Drive Output Status
Baseblock (Drive ready)
Safety status (STo)
Safety status (STo)
Safety status (STo)
Keypad Display
Normally displayed
SToF (Flashing)
SToF (Flashing)
STo (Flashing)
LED Status Ring
Ready: Illuminated
ALM/ERR: Flashing
ALM/ERR: Flashing
Ready: Flashing
MEMOBUS Register
0020 (Hex.)
bit C: 0
bit D: 0
bit C: 1
bit D: 0
bit C: 1
bit D: 0
bit C: 0
bit D: 1
Safety Function Status Monitor
The drive Safety monitor output sends a feedback signal about the status of the Safety function. The Safety monitor
output is one of the possible settings available for the MFDO terminals. If there is damage to the Safe Disable circuit,
a controller (PLC or safety relay) must read this signal as an input signal to hold the
“
Safe Torque Off
”
status. This
will help verify the condition of the safety circuit. Refer to the manual for the safety device for more information
about the Safety function.
You can use the MFDO function settings to switch the polarity of the Safety monitor output signal. Refer to
for setting instructions.
Keypad Display
If the two input channels are OFF (Open), the keypad will flash
STo [Safe Torque OFF]
.
If there is damage to the Safe disable circuit or the drive, the keypad will flash
SToF [Safe Torque OFF Hardware]
when one input channel is OFF (Open) and the other is ON (Close the circuit). When you use the Safe disable circuit
correctly, the keypad will not show
SToF
.
If there is damage to the drive, the keypad will show
SCF [Safety Circuit Fault]
when the drive detects a fault in the
Safe disable circuit. Refer to the chapter on Troubleshooting for more information.
■
Validating the Safe Disable Function
After you replace parts or do maintenance on the drive, first complete all necessary wiring to start the drive, then test
the Safe Disable input with these steps. Keep a record of the test results.
Note:
This validation should be performed at least once every three months in order to guarantee the specification values of the safety parameters.
1. When the two input channels are OFF (Open), make sure that the keypad flashes
STo [Safe Torque OFF]
, and
make sure that the motor is not running.
2. Monitor the ON/OFF status of the input channels and make sure that MFDO set to the EDM function operates as
shown in
If one or more of these items are true, the ON/OFF status of the MFDO may not display correctly on the keypad: